version: 66.10
glider: 170
mission: 8
dive: 126
start: 5 15 112 2 6 31
data:
$ID,170
$MISSION,8
$DIVE,126
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51734
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,652.74329
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-125893.51
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,146
$AH0_10V,97.5
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.674221
$PRESSURE_SLOPE,0.0001164274
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043607452
$SEABIRD_T_H,0.00062843185
$SEABIRD_T_I,2.3948436e-05
$SEABIRD_T_J,2.5418763e-06
$SEABIRD_C_G,-9.9654589
$SEABIRD_C_H,1.1018275
$SEABIRD_C_I,-0.0017437373
$SEABIRD_C_J,0.00021077196
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150512,020314,2055.070,11959.737,16,0.8,17,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.6
$GPS2,150512,020608,2055.103,11959.681,21,0.8,22,-2.8
$SPEED_LIMITS,0.150,0.298
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,344.2,92412,-13.9,-8.684
$D_GRID,3541
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.46,-194.6,0.0,0.0,0,111,0.00,0.00,-90.78,0.000,2,0.000,0.000,132,2697,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.46,-194.6,4.2,-5.2,9,147,10.25,2.10,-14.70,0.000,4,0.245,0.044,2640,1267,3929,0,0,0,0,0,0,25.88,26.55,26.91
$GC,205,-0.37,-194.6,33.0,-23.7,17,212,0.15,2.17,0.00,0.000,6,0.161,0.046,2683,2698,3932,0,0,0,0,0,0,26.30,26.51,28.83
$GC,511,-0.38,-194.6,73.8,-9.7,37,516,0.00,1.52,0.00,0.000,4,0.000,0.057,2682,3698,3931,0,0,0,0,0,0,28.83,26.55,28.83
$GC,624,-0.44,-194.6,86.4,-12.3,42,630,0.00,1.50,0.00,0.000,6,0.000,0.030,2683,2659,3931,0,0,0,0,0,0,28.83,26.73,28.83
$GC,939,-0.51,-194.6,104.5,-6.3,58,944,0.12,1.95,0.00,0.000,4,0.090,0.029,2599,1304,3931,0,0,0,0,0,0,26.74,26.67,28.83
$GC,977,-0.56,-194.6,106.8,-7.4,59,985,0.00,2.10,0.00,0.000,6,0.000,0.044,2598,2695,3930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1282,-0.51,-194.6,149.2,-14.7,75,1284,0.12,0.00,0.00,0.000,6,0.155,0.000,2633,2694,3929,0,0,0,0,0,0,26.56,28.83,28.83
$GC,1584,-0.54,-194.6,176.4,-5.2,90,1589,0.00,2.05,0.00,0.000,4,0.000,0.031,2634,1301,3927,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1621,-0.57,-194.6,177.9,-5.4,91,1628,0.00,2.12,0.00,0.000,6,0.000,0.045,2634,2703,3927,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1927,-0.60,-194.6,202.0,-7.1,107,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2703,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2228,-0.64,-194.6,225.8,-9.6,122,2234,0.12,1.52,0.00,0.000,4,0.087,0.054,2547,3702,3922,0,0,0,0,0,0,26.77,26.56,28.83
$GC,2293,-0.62,-194.6,236.1,-14.2,125,2299,0.12,1.48,0.00,0.000,6,0.119,0.029,2603,2693,3920,0,0,0,0,0,0,26.42,26.74,28.83
$GC,2617,-0.62,-194.6,270.7,-8.3,141,2623,0.00,1.58,0.00,0.000,4,0.000,0.057,2603,3696,3917,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2710,-0.64,-194.6,278.0,-8.7,145,2715,0.00,1.42,0.00,0.000,6,0.000,0.032,2604,2725,3916,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3023,-0.66,-194.6,304.1,-7.5,161,3028,0.00,2.08,0.00,0.000,4,0.000,0.031,2604,1299,3914,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3070,-0.68,-194.6,307.3,-7.5,163,3076,0.00,2.20,0.00,0.000,6,0.000,0.047,2604,2727,3914,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3389,-0.71,-194.6,332.7,-8.7,179,3394,0.00,2.12,0.00,0.000,4,0.000,0.032,2604,1286,3910,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3415,-0.73,-194.6,334.7,-8.9,180,3421,0.12,2.20,0.00,0.000,6,0.088,0.047,2530,2724,3910,0,0,0,0,0,0,26.58,26.55,28.83
$GC,3734,-0.67,-194.6,378.7,-14.1,196,3740,0.15,1.50,0.00,0.000,4,0.151,0.057,2579,3695,3907,0,0,0,0,0,0,26.46,26.51,28.83
$GC,3798,-0.64,-194.6,386.3,-12.6,199,3803,0.00,1.45,0.00,0.000,6,0.000,0.032,2579,2719,3906,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4120,-0.64,-194.6,421.5,-10.9,215,4126,0.00,2.10,0.00,0.000,4,0.000,0.033,2579,1289,3903,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4184,-0.64,-194.6,428.3,-10.8,218,4191,0.00,2.20,0.00,0.000,6,0.000,0.047,2579,2714,3902,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4508,-0.64,-194.6,457.2,-8.2,234,4513,0.00,2.10,0.00,0.000,4,0.000,0.031,2579,1299,3899,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4550,-0.64,-194.6,460.9,-8.6,236,4556,0.00,2.20,0.00,0.000,6,0.000,0.049,2579,2716,3899,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4873,-0.64,-194.6,490.9,-9.5,252,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2719,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5175,-0.64,-194.6,516.9,-8.0,267,5180,0.00,2.12,0.00,0.000,4,0.000,0.033,2579,1294,3893,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5252,-0.64,-194.6,522.2,-8.2,270,5259,0.00,2.20,0.00,0.000,6,0.000,0.050,2581,2716,3892,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5558,-0.64,-194.6,546.5,-8.1,286,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2715,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5859,-0.64,-194.6,570.3,-7.9,301,5864,0.00,2.12,0.00,0.000,4,0.000,0.044,2580,1295,3888,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5958,-0.65,-194.6,576.8,-7.8,305,5965,0.00,2.20,0.00,0.000,6,0.000,0.048,2579,2703,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6262,-0.66,-194.6,600.0,-6.9,321,6267,0.00,2.10,0.00,0.000,4,0.000,0.032,2579,1293,3884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6350,-0.68,-194.6,604.7,-7.4,324,6356,0.00,2.15,0.00,0.000,6,0.000,0.047,2579,2685,3883,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6656,-0.69,-194.6,629.6,-7.9,335,6661,0.00,2.08,0.00,0.000,4,0.000,0.032,2580,1295,3881,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6729,-0.71,-194.6,635.0,-8.2,337,6735,0.00,2.15,0.00,0.000,6,0.000,0.047,2580,2672,3882,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7053,-0.72,-194.6,664.6,-9.0,348,7059,0.00,2.05,0.00,0.000,4,0.000,0.032,2579,1293,3879,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7081,-0.74,-194.6,664.6,-9.0,348,7087,0.00,2.12,0.00,0.000,6,0.000,0.048,2579,2668,3879,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7388,-0.75,-194.6,694.0,-8.9,359,7393,0.00,2.05,0.00,0.000,4,0.000,0.033,2579,1294,3877,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7440,-0.77,-194.6,697.1,-8.8,360,7446,0.00,2.10,0.00,0.000,6,0.000,0.048,2579,2645,3877,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7755,-0.79,-194.6,726.5,-8.7,371,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2645,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8054,-0.81,-194.6,751.9,-8.5,381,8056,0.12,0.00,0.00,0.000,6,0.097,0.000,2510,2645,3873,0,0,0,0,0,0,26.70,28.83,28.83
$GC,8354,-0.75,-194.6,788.8,-12.0,391,8356,0.17,0.00,0.00,0.000,6,0.142,0.000,2562,2645,3873,0,0,0,0,0,0,26.34,28.83,28.83
$GC,8653,-0.75,-194.6,815.3,-9.1,401,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2645,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8953,-0.75,-194.6,844.2,-9.8,411,8959,0.00,2.00,0.00,0.000,4,0.000,0.033,2563,1297,3870,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9010,-0.75,-194.6,847.5,-9.9,412,9017,0.00,2.12,0.00,0.000,6,0.000,0.049,2562,2649,3869,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9316,-0.75,-194.6,879.9,-9.5,423,9322,0.00,2.03,0.00,0.000,4,0.000,0.032,2563,1298,3868,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9349,-0.75,-194.6,882.9,-9.4,424,9355,0.00,2.10,0.00,0.000,6,0.000,0.048,2562,2641,3868,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9683,-0.75,-194.6,909.9,-7.0,435,9689,0.00,2.03,0.00,0.000,4,0.000,0.033,2562,1294,3866,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9726,-0.75,-194.6,912.2,-6.7,436,9732,0.00,2.10,0.00,0.000,6,0.000,0.049,2562,2641,3866,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10051,-0.75,-194.6,935.0,-7.5,447,10056,0.00,2.03,0.00,0.000,4,0.000,0.034,2563,1290,3865,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10078,-0.75,-194.6,935.0,-7.5,447,10084,0.00,2.08,0.00,0.000,6,0.000,0.048,2562,2625,3865,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10384,-0.75,-194.6,963.3,-8.9,458,10389,0.00,2.00,0.00,0.000,4,0.000,0.033,2563,1293,3864,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10416,-0.75,-194.6,966.4,-9.1,459,10422,0.00,2.10,0.00,0.000,6,0.000,0.048,2562,2632,3864,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10688,begin apogee
$GC,10694,-0.12,0.0,990.8,-8.8,468,10853,0.57,0.00,154.50,1.447,4,0.108,0.000,2760,1939,3121,0,0,0,0,0,0,25.94,28.83,23.75
$STATE,10855,end apogee,CONTROL_FINISHED_OK
$STATE,10855,begin climb
$GC,10857,0.46,194.6,997.7,0.0,473,11040,0.52,2.25,172.70,1.408,4,0.060,0.040,2959,548,2327,0,0,0,0,0,0,25.02,25.01,23.49
$GC,11126,0.44,194.6,983.4,9.4,482,11132,0.00,2.22,0.00,0.000,6,0.000,0.038,2958,1946,2320,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11445,0.41,194.6,948.1,10.7,493,11451,0.00,2.20,0.00,0.000,4,0.000,0.041,2967,541,2316,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11628,0.40,194.6,928.6,10.6,499,11634,0.12,2.20,0.00,0.000,6,0.146,0.039,2931,1957,2314,0,0,0,0,0,0,26.06,26.25,28.83
$GC,11961,0.42,224.2,900.6,7.8,510,11993,0.00,2.30,25.60,1.340,4,0.000,0.052,2930,3342,2205,0,0,0,0,0,0,28.83,25.74,24.65
$GC,12035,0.43,248.6,895.3,8.0,512,12065,0.00,2.15,22.73,1.310,6,0.000,0.033,2930,1957,2106,0,0,0,0,0,0,28.83,25.93,24.32
$GC,12388,0.48,297.8,868.3,7.2,524,12440,0.00,2.33,43.15,1.340,4,0.000,0.043,2930,542,1906,0,0,0,0,0,0,28.83,25.28,24.23
$GC,12473,0.54,340.2,863.8,7.4,526,12518,0.12,2.25,37.83,1.317,6,0.088,0.038,2998,1959,1734,0,0,0,0,0,0,25.62,25.61,24.08
$GC,12841,0.51,340.2,811.7,14.3,539,12843,0.12,0.00,0.00,0.000,6,0.150,0.000,2963,1959,1727,0,0,0,0,0,0,26.05,28.83,28.83
$GC,13141,0.53,340.2,777.2,11.4,549,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1959,1725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13441,0.55,340.2,744.1,10.5,559,13446,0.00,2.20,0.00,0.000,4,0.000,0.052,2962,3349,1724,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,20521,end climb,SURFACE_DEPTH_REACHED
$STATE,20521,begin surface coast
$FINISH,1.1,1.020705
$STATE,20554,end surface coast,CONTROL_FINISHED_OK
$STATE,20554,begin surface
$SM_CCo,20571,60.42,0.059,0,0,459,652.74
$SM_GC,1.91,7.88,1.02,60.42,0.042,0.031,0.059,130,2688,459,-8.30,1.36,652.74,0,0,0,0,0,0,25.98,26.26,26.01
$IRIDIUM_FIX,2047.91,12002.43,150512,010135
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,7.32023
$TCM_TEMP,23.70
$XPDR_PINGS,522
$24V_AH,23.5,28.967
$10V_AH,9.6,12.984
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.625,183.400,598.000,60.425,0.000,0.000,0.000,0.000,130.500,0.000,23.453,3034.347,14316.774,809.809,2317.975,234.166,0.000,2102.125,0.000,2233.628,0.000,0.547,0.000
$DEVICE_MAMPS,244.800,56.610,1446.615,58.905,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20526.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.382,0.000,0.000,0.000
$MEM,325328
$DATA_FILE_SIZE,33348,920
$CAP_FILE_SIZE,395716,0
$CFSIZE,260165632,238309376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,358.7,1
$GPS,150512,075135,2059.066,11958.114,36,0.8,36,-2.9